Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

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extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

	/*			/*
	Bullet Continuous Collision Detection and Physics Library			Bullet Continuous Collision Detection and Physics Library
	Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org			Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org

	This software is provided 'as-is', without any express or implied warranty.			This software is provided 'as-is', without any express or implied warranty.
	In no event will the authors be held liable for any damages arising from the use of this software.			In no event will the authors be held liable for any damages arising from the use of this software.
	Permission is granted to anyone to use this software for any purpose,			Permission is granted to anyone to use this software for any purpose,
	including commercial applications, and to alter it and redistribute it freely,			including commercial applications, and to alter it and redistribute it freely,
	subject to the following restrictions:			subject to the following restrictions:

	1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.			1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
	2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.			2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
	3. This notice may not be removed or altered from any source distribution.			3. This notice may not be removed or altered from any source distribution.
	*/			*/
	//#if defined (_WIN32) \|\| defined (__i386__)			#if defined(_WIN32) \|\| defined(__i386__)
	//#define BT_USE_SSE_IN_API			#define BT_USE_SSE_IN_API
	//#endif			#endif

	#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"			#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
	#include "btConvexPolyhedron.h"			#include "btConvexPolyhedron.h"
	#include "LinearMath/btConvexHullComputer.h"			#include "LinearMath/btConvexHullComputer.h"
	#include <new>			#include <new>
	#include "LinearMath/btGeometryUtil.h"			#include "LinearMath/btGeometryUtil.h"
	#include "LinearMath/btGrahamScan2dConvexHull.h"			#include "LinearMath/btGrahamScan2dConvexHull.h"


	btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),			btPolyhedralConvexShape::btPolyhedralConvexShape() : btConvexInternalShape(),
	m_polyhedron(0)			m_polyhedron(0)
	{			{

	}			}

	btPolyhedralConvexShape::~btPolyhedralConvexShape()			btPolyhedralConvexShape::~btPolyhedralConvexShape()
	{			{
	if (m_polyhedron)			if (m_polyhedron)
	{			{
	m_polyhedron->~btConvexPolyhedron();			m_polyhedron->~btConvexPolyhedron();
	btAlignedFree(m_polyhedron);			btAlignedFree(m_polyhedron);
	}			}
	}			}

				void btPolyhedralConvexShape::setPolyhedralFeatures(btConvexPolyhedron& polyhedron)
				{
				if (m_polyhedron)
				{
				*m_polyhedron = polyhedron;
				}
				else
				{
				void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16);
				m_polyhedron = new (mem) btConvexPolyhedron(polyhedron);
				}
				}

	bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)			bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
	{			{

	if (m_polyhedron)			if (m_polyhedron)
	{			{
	m_polyhedron->~btConvexPolyhedron();			m_polyhedron->~btConvexPolyhedron();
	btAlignedFree(m_polyhedron);			btAlignedFree(m_polyhedron);
	}			}

	void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);			void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16);
	m_polyhedron = new (mem) btConvexPolyhedron;			m_polyhedron = new (mem) btConvexPolyhedron;

	btAlignedObjectArray<btVector3> orgVertices;			btAlignedObjectArray<btVector3> orgVertices;

	for (int i=0;i<getNumVertices();i++)			for (int i = 0; i < getNumVertices(); i++)
	{			{
	btVector3& newVertex = orgVertices.expand();			btVector3& newVertex = orgVertices.expand();
	getVertex(i,newVertex);			getVertex(i, newVertex);
	}			}

	btConvexHullComputer conv;			btConvexHullComputer conv;

	if (shiftVerticesByMargin)			if (shiftVerticesByMargin)
	{			{
	btAlignedObjectArray<btVector3> planeEquations;			btAlignedObjectArray<btVector3> planeEquations;
	btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);			btGeometryUtil::getPlaneEquationsFromVertices(orgVertices, planeEquations);

	btAlignedObjectArray<btVector3> shiftedPlaneEquations;			btAlignedObjectArray<btVector3> shiftedPlaneEquations;
	for (int p=0;p<planeEquations.size();p++)			for (int p = 0; p < planeEquations.size(); p++)
	{			{
	btVector3 plane = planeEquations[p];			btVector3 plane = planeEquations[p];
	// btScalar margin = getMargin();			// btScalar margin = getMargin();
	plane[3] -= getMargin();			plane[3] -= getMargin();
	shiftedPlaneEquations.push_back(plane);			shiftedPlaneEquations.push_back(plane);
	}			}

	btAlignedObjectArray<btVector3> tmpVertices;			btAlignedObjectArray<btVector3> tmpVertices;

	btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);			btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations, tmpVertices);

	conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);			conv.compute(&tmpVertices[0].getX(), sizeof(btVector3), tmpVertices.size(), 0.f, 0.f);
	} else			}
				else
	{			{

	conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);			conv.compute(&orgVertices[0].getX(), sizeof(btVector3), orgVertices.size(), 0.f, 0.f);
	}			}

				#ifndef BT_RECONSTRUCT_FACES

				int numVertices = conv.vertices.size();
				m_polyhedron->m_vertices.resize(numVertices);
				for (int p = 0; p < numVertices; p++)
				{
				m_polyhedron->m_vertices[p] = conv.vertices[p];
				}

				int v0, v1;
				for (int j = 0; j < conv.faces.size(); j++)
				{
				btVector3 edges[3];
				int numEdges = 0;
				btFace combinedFace;
				const btConvexHullComputer::Edge* edge = &conv.edges[conv.faces[j]];
				v0 = edge->getSourceVertex();
				int prevVertex = v0;
				combinedFace.m_indices.push_back(v0);
				v1 = edge->getTargetVertex();
				while (v1 != v0)
				{
				btVector3 wa = conv.vertices[prevVertex];
				btVector3 wb = conv.vertices[v1];
				btVector3 newEdge = wb - wa;
				newEdge.normalize();
				if (numEdges < 2)
				edges[numEdges++] = newEdge;

				//face->addIndex(v1);
				combinedFace.m_indices.push_back(v1);
				edge = edge->getNextEdgeOfFace();
				prevVertex = v1;
				int v01 = edge->getSourceVertex();
				v1 = edge->getTargetVertex();
				}

				btAssert(combinedFace.m_indices.size() > 2);

				btVector3 faceNormal = edges[0].cross(edges[1]);
				faceNormal.normalize();

				btScalar planeEq = 1e30f;

				for (int v = 0; v < combinedFace.m_indices.size(); v++)
				{
				btScalar eq = m_polyhedron->m_vertices[combinedFace.m_indices[v]].dot(faceNormal);
				if (planeEq > eq)
				{
				planeEq = eq;
				}
				}
				combinedFace.m_plane[0] = faceNormal.getX();
				combinedFace.m_plane[1] = faceNormal.getY();
				combinedFace.m_plane[2] = faceNormal.getZ();
				combinedFace.m_plane[3] = -planeEq;

				m_polyhedron->m_faces.push_back(combinedFace);
				}

				#else //BT_RECONSTRUCT_FACES

	btAlignedObjectArray<btVector3> faceNormals;			btAlignedObjectArray<btVector3> faceNormals;
	int numFaces = conv.faces.size();			int numFaces = conv.faces.size();
	faceNormals.resize(numFaces);			faceNormals.resize(numFaces);
	btConvexHullComputer* convexUtil = &conv;			btConvexHullComputer* convexUtil = &conv;


	btAlignedObjectArray<btFace> tmpFaces;			btAlignedObjectArray<btFace> tmpFaces;
	tmpFaces.resize(numFaces);			tmpFaces.resize(numFaces);

	int numVertices = convexUtil->vertices.size();			int numVertices = convexUtil->vertices.size();
	m_polyhedron->m_vertices.resize(numVertices);			m_polyhedron->m_vertices.resize(numVertices);
	for (int p=0;p<numVertices;p++)			for (int p = 0; p < numVertices; p++)
	{			{
	m_polyhedron->m_vertices[p] = convexUtil->vertices[p];			m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
	}			}


	for (int i=0;i<numFaces;i++)			for (int i = 0; i < numFaces; i++)
	{			{
	int face = convexUtil->faces[i];			int face = convexUtil->faces[i];
	//printf("face=%d\n",face);			//printf("face=%d\n",face);
	const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];			const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
	const btConvexHullComputer::Edge* edge = firstEdge;			const btConvexHullComputer::Edge* edge = firstEdge;

	btVector3 edges[3];			btVector3 edges[3];
	int numEdges = 0;			int numEdges = 0;
	//compute face normals			//compute face normals

	do			do
	{			{

	int src = edge->getSourceVertex();			int src = edge->getSourceVertex();
	tmpFaces[i].m_indices.push_back(src);			tmpFaces[i].m_indices.push_back(src);
	int targ = edge->getTargetVertex();			int targ = edge->getTargetVertex();
	btVector3 wa = convexUtil->vertices[src];			btVector3 wa = convexUtil->vertices[src];

	btVector3 wb = convexUtil->vertices[targ];			btVector3 wb = convexUtil->vertices[targ];
	btVector3 newEdge = wb-wa;			btVector3 newEdge = wb - wa;
	newEdge.normalize();			newEdge.normalize();
	if (numEdges<2)			if (numEdges < 2)
	edges[numEdges++] = newEdge;			edges[numEdges++] = newEdge;

	edge = edge->getNextEdgeOfFace();			edge = edge->getNextEdgeOfFace();
	} while (edge!=firstEdge);			} while (edge != firstEdge);

	btScalar planeEq = 1e30f;			btScalar planeEq = 1e30f;


	if (numEdges==2)			if (numEdges == 2)
	{			{
	faceNormals[i] = edges[0].cross(edges[1]);			faceNormals[i] = edges[0].cross(edges[1]);
	faceNormals[i].normalize();			faceNormals[i].normalize();
	tmpFaces[i].m_plane[0] = faceNormals[i].getX();			tmpFaces[i].m_plane[0] = faceNormals[i].getX();
	tmpFaces[i].m_plane[1] = faceNormals[i].getY();			tmpFaces[i].m_plane[1] = faceNormals[i].getY();
	tmpFaces[i].m_plane[2] = faceNormals[i].getZ();			tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
	tmpFaces[i].m_plane[3] = planeEq;			tmpFaces[i].m_plane[3] = planeEq;

	}			}
	else			else
	{			{
	btAssert(0);//degenerate?			btAssert(0); //degenerate?
	faceNormals[i].setZero();			faceNormals[i].setZero();
	}			}

	for (int v=0;v<tmpFaces[i].m_indices.size();v++)			for (int v = 0; v < tmpFaces[i].m_indices.size(); v++)
	{			{
	btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);			btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
	if (planeEq>eq)			if (planeEq > eq)
	{			{
	planeEq=eq;			planeEq = eq;
	}			}
	}			}
	tmpFaces[i].m_plane[3] = -planeEq;			tmpFaces[i].m_plane[3] = -planeEq;
	}			}

	//merge coplanar faces and copy them to m_polyhedron			//merge coplanar faces and copy them to m_polyhedron

	btScalar faceWeldThreshold= 0.999f;			btScalar faceWeldThreshold = 0.999f;
	btAlignedObjectArray<int> todoFaces;			btAlignedObjectArray<int> todoFaces;
	for (int i=0;i<tmpFaces.size();i++)			for (int i = 0; i < tmpFaces.size(); i++)
	todoFaces.push_back(i);			todoFaces.push_back(i);

	while (todoFaces.size())			while (todoFaces.size())
	{			{
	btAlignedObjectArray<int> coplanarFaceGroup;			btAlignedObjectArray<int> coplanarFaceGroup;
	int refFace = todoFaces[todoFaces.size()-1];			int refFace = todoFaces[todoFaces.size() - 1];

	coplanarFaceGroup.push_back(refFace);			coplanarFaceGroup.push_back(refFace);
	btFace& faceA = tmpFaces[refFace];			btFace& faceA = tmpFaces[refFace];
	todoFaces.pop_back();			todoFaces.pop_back();

	btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);			btVector3 faceNormalA(faceA.m_plane[0], faceA.m_plane[1], faceA.m_plane[2]);
	for (int j=todoFaces.size()-1;j>=0;j--)			for (int j = todoFaces.size() - 1; j >= 0; j--)
	{			{
	int i = todoFaces[j];			int i = todoFaces[j];
	btFace& faceB = tmpFaces[i];			btFace& faceB = tmpFaces[i];
	btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);			btVector3 faceNormalB(faceB.m_plane[0], faceB.m_plane[1], faceB.m_plane[2]);
	if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)			if (faceNormalA.dot(faceNormalB) > faceWeldThreshold)
	{			{
	coplanarFaceGroup.push_back(i);			coplanarFaceGroup.push_back(i);
	todoFaces.remove(i);			todoFaces.remove(i);
	}			}
	}			}


	bool did_merge = false;			bool did_merge = false;
	if (coplanarFaceGroup.size()>1)			if (coplanarFaceGroup.size() > 1)
	{			{
	//do the merge: use Graham Scan 2d convex hull			//do the merge: use Graham Scan 2d convex hull

	btAlignedObjectArray<GrahamVector3> orgpoints;			btAlignedObjectArray<GrahamVector3> orgpoints;
	btVector3 averageFaceNormal(0,0,0);			btVector3 averageFaceNormal(0, 0, 0);

	for (int i=0;i<coplanarFaceGroup.size();i++)			for (int i = 0; i < coplanarFaceGroup.size(); i++)
	{			{
	// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);			// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);

	btFace& face = tmpFaces[coplanarFaceGroup[i]];			btFace& face = tmpFaces[coplanarFaceGroup[i]];
	btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);			btVector3 faceNormal(face.m_plane[0], face.m_plane[1], face.m_plane[2]);
	averageFaceNormal+=faceNormal;			averageFaceNormal += faceNormal;
	for (int f=0;f<face.m_indices.size();f++)			for (int f = 0; f < face.m_indices.size(); f++)
	{			{
	int orgIndex = face.m_indices[f];			int orgIndex = face.m_indices[f];
	btVector3 pt = m_polyhedron->m_vertices[orgIndex];			btVector3 pt = m_polyhedron->m_vertices[orgIndex];

	bool found = false;			bool found = false;

	for (int i=0;i<orgpoints.size();i++)			for (int i = 0; i < orgpoints.size(); i++)
	{			{
	//if ((orgpoints[i].m_orgIndex == orgIndex) \|\| ((rotatedPt-orgpoints[i]).length2()<0.0001))			//if ((orgpoints[i].m_orgIndex == orgIndex) \|\| ((rotatedPt-orgpoints[i]).length2()<0.0001))
	if (orgpoints[i].m_orgIndex == orgIndex)			if (orgpoints[i].m_orgIndex == orgIndex)
	{			{
	found=true;			found = true;
	break;			break;
	}			}
	}			}
	if (!found)			if (!found)
	orgpoints.push_back(GrahamVector3(pt,orgIndex));			orgpoints.push_back(GrahamVector3(pt, orgIndex));
	}			}
	}			}



	btFace combinedFace;			btFace combinedFace;
	for (int i=0;i<4;i++)			for (int i = 0; i < 4; i++)
	combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];			combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];

	btAlignedObjectArray<GrahamVector3> hull;			btAlignedObjectArray<GrahamVector3> hull;

	averageFaceNormal.normalize();			averageFaceNormal.normalize();
	GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);			GrahamScanConvexHull2D(orgpoints, hull, averageFaceNormal);

	for (int i=0;i<hull.size();i++)			for (int i = 0; i < hull.size(); i++)
	{			{
	combinedFace.m_indices.push_back(hull[i].m_orgIndex);			combinedFace.m_indices.push_back(hull[i].m_orgIndex);
	for(int k = 0; k < orgpoints.size(); k++)			for (int k = 0; k < orgpoints.size(); k++)
	{			{
	if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex)			if (orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
	{			{
	orgpoints[k].m_orgIndex = -1; // invalidate...			orgpoints[k].m_orgIndex = -1; // invalidate...
	break;			break;
	}			}
	}			}
	}			}

	// are there rejected vertices?			// are there rejected vertices?
	bool reject_merge = false;			bool reject_merge = false;

				for (int i = 0; i < orgpoints.size(); i++)
				{
	for(int i = 0; i < orgpoints.size(); i++) {
	if(orgpoints[i].m_orgIndex == -1)			if (orgpoints[i].m_orgIndex == -1)
	continue; // this is in the hull...			continue; // this is in the hull...
	// this vertex is rejected -- is anybody else using this vertex?			// this vertex is rejected -- is anybody else using this vertex?
	for(int j = 0; j < tmpFaces.size(); j++) {			for (int j = 0; j < tmpFaces.size(); j++)
				{
	btFace& face = tmpFaces[j];			btFace& face = tmpFaces[j];
	// is this a face of the current coplanar group?			// is this a face of the current coplanar group?
	bool is_in_current_group = false;			bool is_in_current_group = false;
	for(int k = 0; k < coplanarFaceGroup.size(); k++) {			for (int k = 0; k < coplanarFaceGroup.size(); k++)
	if(coplanarFaceGroup[k] == j) {			{
				if (coplanarFaceGroup[k] == j)
				{
	is_in_current_group = true;			is_in_current_group = true;
	break;			break;
	}			}
	}			}
	if(is_in_current_group) // ignore this face...			if (is_in_current_group) // ignore this face...
	continue;			continue;
	// does this face use this rejected vertex?			// does this face use this rejected vertex?
	for(int v = 0; v < face.m_indices.size(); v++) {			for (int v = 0; v < face.m_indices.size(); v++)
	if(face.m_indices[v] == orgpoints[i].m_orgIndex) {			{
				if (face.m_indices[v] == orgpoints[i].m_orgIndex)
				{
	// this rejected vertex is used in another face -- reject merge			// this rejected vertex is used in another face -- reject merge
	reject_merge = true;			reject_merge = true;
	break;			break;
	}			}
	}			}
	if(reject_merge)			if (reject_merge)
	break;			break;
	}			}
	if(reject_merge)			if (reject_merge)
	break;			break;
	}			}

	if (!reject_merge)			if (!reject_merge)
	{			{
	// do this merge!			// do this merge!
	did_merge = true;			did_merge = true;
	m_polyhedron->m_faces.push_back(combinedFace);			m_polyhedron->m_faces.push_back(combinedFace);
	}			}
	}			}
	if(!did_merge)			if (!did_merge)
	{			{
	for (int i=0;i<coplanarFaceGroup.size();i++)			for (int i = 0; i < coplanarFaceGroup.size(); i++)
	{			{
	btFace face = tmpFaces[coplanarFaceGroup[i]];			btFace face = tmpFaces[coplanarFaceGroup[i]];
	m_polyhedron->m_faces.push_back(face);			m_polyhedron->m_faces.push_back(face);
	}			}

	}			}



	}			}

				#endif //BT_RECONSTRUCT_FACES

	m_polyhedron->initialize();			m_polyhedron->initialize();

	return true;			return true;
	}			}

	#ifndef MIN			#ifndef MIN
	#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))			#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
	#endif			#endif

	btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const			btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
	{			{


	btVector3 supVec(0,0,0);			btVector3 supVec(0, 0, 0);
	#ifndef __SPU__			#ifndef __SPU__
	int i;			int i;
	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));			btScalar maxDot(btScalar(-BT_LARGE_FLOAT));

	btVector3 vec = vec0;			btVector3 vec = vec0;
	btScalar lenSqr = vec.length2();			btScalar lenSqr = vec.length2();
	if (lenSqr < btScalar(0.0001))			if (lenSqr < btScalar(0.0001))
	{			{
	vec.setValue(1,0,0);			vec.setValue(1, 0, 0);
	} else			}
				else
	{			{
	btScalar rlen = btScalar(1.) / btSqrt(lenSqr );			btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
	vec *= rlen;			vec *= rlen;
	}			}

	btVector3 vtx;			btVector3 vtx;
	btScalar newDot;			btScalar newDot;

	for( int k = 0; k < getNumVertices(); k += 128 )			for (int k = 0; k < getNumVertices(); k += 128)
	{			{
	btVector3 temp[128];			btVector3 temp[128];
	int inner_count = MIN(getNumVertices() - k, 128);			int inner_count = MIN(getNumVertices() - k, 128);
	for( i = 0; i < inner_count; i++ )			for (i = 0; i < inner_count; i++)
	getVertex(i,temp[i]);			getVertex(i, temp[i]);
	i = (int) vec.maxDot( temp, inner_count, newDot);			i = (int)vec.maxDot(temp, inner_count, newDot);
	if (newDot > maxDot)			if (newDot > maxDot)
	{			{
	maxDot = newDot;			maxDot = newDot;
	supVec = temp[i];			supVec = temp[i];
	}			}
	}			}

	#endif //__SPU__			#endif //__SPU__
	return supVec;			return supVec;
	}			}



	void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const			void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
	{			{
	#ifndef __SPU__			#ifndef __SPU__
	int i;			int i;

	btVector3 vtx;			btVector3 vtx;
	btScalar newDot;			btScalar newDot;

	for (i=0;i<numVectors;i++)			for (i = 0; i < numVectors; i++)
	{			{
	supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
	}			}

	for (int j=0;j<numVectors;j++)			for (int j = 0; j < numVectors; j++)
	{			{
	const btVector3& vec = vectors[j];			const btVector3& vec = vectors[j];

	for( int k = 0; k < getNumVertices(); k += 128 )			for (int k = 0; k < getNumVertices(); k += 128)
	{			{
	btVector3 temp[128];			btVector3 temp[128];
	int inner_count = MIN(getNumVertices() - k, 128);			int inner_count = MIN(getNumVertices() - k, 128);
	for( i = 0; i < inner_count; i++ )			for (i = 0; i < inner_count; i++)
	getVertex(i,temp[i]);			getVertex(i, temp[i]);
	i = (int) vec.maxDot( temp, inner_count, newDot);			i = (int)vec.maxDot(temp, inner_count, newDot);
	if (newDot > supportVerticesOut[j][3])			if (newDot > supportVerticesOut[j][3])
	{			{
	supportVerticesOut[j] = temp[i];			supportVerticesOut[j] = temp[i];
	supportVerticesOut[j][3] = newDot;			supportVerticesOut[j][3] = newDot;
	}			}
	}			}
	}			}

	#endif //__SPU__			#endif //__SPU__
	}			}



	void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const			void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
	{			{
	#ifndef __SPU__			#ifndef __SPU__
	//not yet, return box inertia			//not yet, return box inertia

	//btScalar margin = getMargin();			//btScalar margin = getMargin();

	btTransform ident;			btTransform ident;
	ident.setIdentity();			ident.setIdentity();
	btVector3 aabbMin,aabbMax;			btVector3 aabbMin, aabbMax;
	getAabb(ident,aabbMin,aabbMax); // This already contains the margin			getAabb(ident, aabbMin, aabbMax); // This already contains the margin
	btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);			btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);

	btScalar lx=btScalar(2.)*(halfExtents.x());			btScalar lx = btScalar(2.) * (halfExtents.x());
	btScalar ly=btScalar(2.)*(halfExtents.y());			btScalar ly = btScalar(2.) * (halfExtents.y());
	btScalar lz=btScalar(2.)*(halfExtents.z());			btScalar lz = btScalar(2.) * (halfExtents.z());
	const btScalar x2 = lx*lx;			const btScalar x2 = lx * lx;
	const btScalar y2 = ly*ly;			const btScalar y2 = ly * ly;
	const btScalar z2 = lz*lz;			const btScalar z2 = lz * lz;
	const btScalar scaledmass = mass * btScalar(0.08333333);			const btScalar scaledmass = mass * btScalar(0.08333333);

	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));			inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
	#endif //__SPU__			#endif //__SPU__
	}			}



	void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)			void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
	{			{
	btConvexInternalShape::setLocalScaling(scaling);			btConvexInternalShape::setLocalScaling(scaling);
	recalcLocalAabb();			recalcLocalAabb();
	}			}

	btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()			btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()
	:btPolyhedralConvexShape(),			: btPolyhedralConvexShape(),
	m_localAabbMin(1,1,1),			m_localAabbMin(1, 1, 1),
	m_localAabbMax(-1,-1,-1),			m_localAabbMax(-1, -1, -1),
	m_isLocalAabbValid(false)			m_isLocalAabbValid(false)
	{			{
	}			}

	void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const			void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
	{			{
	getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());			getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
	}			}

	void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()			void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
	{			{
	m_isLocalAabbValid = true;			m_isLocalAabbValid = true;

	#if 1			#if 1
	static const btVector3 _directions[] =			static const btVector3 _directions[] =
	{			{
	btVector3( 1., 0., 0.),			btVector3(1., 0., 0.),
	btVector3( 0., 1., 0.),			btVector3(0., 1., 0.),
	btVector3( 0., 0., 1.),			btVector3(0., 0., 1.),
	btVector3( -1., 0., 0.),			btVector3(-1., 0., 0.),
	btVector3( 0., -1., 0.),			btVector3(0., -1., 0.),
	btVector3( 0., 0., -1.)			btVector3(0., 0., -1.)};
	};

	btVector3 _supporting[] =			btVector3 _supporting[] =
	{			{
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.)			btVector3(0., 0., 0.)};
	};

	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);			batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);

	for ( int i = 0; i < 3; ++i )			for (int i = 0; i < 3; ++i)
	{			{
	m_localAabbMax[i] = _supporting[i][i];			m_localAabbMax[i] = _supporting[i][i];
	m_localAabbMin[i] = _supporting[i + 3][i];			m_localAabbMin[i] = _supporting[i + 3][i];
	}			}

	#else			#else

	for (int i=0;i<3;i++)			for (int i = 0; i < 3; i++)
	{			{
	btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));			btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
	vec[i] = btScalar(1.);			vec[i] = btScalar(1.);
	btVector3 tmp = localGetSupportingVertex(vec);			btVector3 tmp = localGetSupportingVertex(vec);
	m_localAabbMax[i] = tmp[i];			m_localAabbMax[i] = tmp[i];
	vec[i] = btScalar(-1.);			vec[i] = btScalar(-1.);
	tmp = localGetSupportingVertex(vec);			tmp = localGetSupportingVertex(vec);
	m_localAabbMin[i] = tmp[i];			m_localAabbMin[i] = tmp[i];
	}			}
	#endif			#endif
	}			}